CN112865063A - Energy router, vehicle operation control method, and storage medium - Google Patents

Energy router, vehicle operation control method, and storage medium Download PDF

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Publication number
CN112865063A
CN112865063A CN202110035854.3A CN202110035854A CN112865063A CN 112865063 A CN112865063 A CN 112865063A CN 202110035854 A CN202110035854 A CN 202110035854A CN 112865063 A CN112865063 A CN 112865063A
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voltage
control
current
phase
circuit
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CN202110035854.3A
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CN112865063B (en
Inventor
林云志
金涛
罗金
陈日成
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Fuzhou University
China Railway Electrification Engineering Group Co Ltd
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Fuzhou University
China Railway Electrification Engineering Group Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J1/00—Circuit arrangements for dc mains or dc distribution networks
    • H02J1/10—Parallel operation of dc sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L9/00—Electric propulsion with power supply external to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C3/00—Electric locomotives or railcars
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J1/00—Circuit arrangements for dc mains or dc distribution networks
    • H02J1/10—Parallel operation of dc sources
    • H02J1/12—Parallel operation of dc generators with converters, e.g. with mercury-arc rectifier
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J1/00—Circuit arrangements for dc mains or dc distribution networks
    • H02J1/14—Balancing the load in a network
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
    • H02M3/1582—Buck-boost converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
    • H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
    • H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
    • H02M3/325—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
    • H02M3/335—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/33569—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements
    • H02M3/33576—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements having at least one active switching element at the secondary side of an isolation transformer
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/21—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/217—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M7/219—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only in a bridge configuration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H02J2300/22—The renewable source being solar energy
    • H02J2300/24—The renewable source being solar energy of photovoltaic origin
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy
    • Y02E10/56—Power conversion systems, e.g. maximum power point trackers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance

Abstract

The application relates to an energy router, a vehicle control method and a storage medium, wherein a three-phase full-bridge PWM (pulse-width modulation) rectifying circuit and a pulse wave uncontrolled rectifying circuit are connected with a power grid interface and a first voltage side direct current bus and are respectively used for outputting PWM (pulse-width modulation) signals to control a switching tube and adjust the transformer transformation ratio control voltage to be maintained at a preset value; the double-active-bridge circuit is connected with the first voltage side direct current bus and the second voltage side direct current bus and is used for generating a phase-shifting control signal to control power bidirectional transmission; the three-phase full-bridge inverter circuit is connected with the rail transit network alternating current load interface and the second voltage side direct current bus and is used for generating a PWM signal to control the switching tube; the bidirectional buck/boost converter circuit is connected with the direct-current bus and the energy storage interface and is used for generating a control signal to control the switching tube; the boost circuit is connected with the second voltage side direct current bus and the photovoltaic system interface, is used for providing stable voltage, can distribute power flow, stabilizes voltage and ensures safe and reliable operation of a rail transit network.

Description

Energy router, vehicle operation control method, and storage medium
Technical Field
The application relates to the technical field of rail transit and energy routers, in particular to an energy router, a vehicle control method and a storage medium.
Background
Urban rail transit is a transportation tool which is recognized in the world as low in energy consumption, less in pollution, rapid, convenient and safe, and becomes one of the fields with the most fierce international competition and the highest innovation driving level in the domestic advanced manufacturing technical field. With the rapid development of urban rail transit, energy conservation and intellectualization are important development trends of current rail transit, and the problems of energy conservation and emission reduction are increasingly prominent.
The track traffic frequently starts, accelerates, brakes and the like in the running process, so that the traction power of the track traffic fluctuates obviously, and the power requirement of the train in the acceleration stage is greatly improved.
In order to relieve the dependence of human on fossil energy, a reproducible distributed energy power generation system is connected to a rail transit system power grid in a large scale, and economic, clean and sustainable structure transformation is realized. However, distributed power sources such as wind energy systems and photovoltaic systems are intermittent and fluctuating, so that the rail transit power supply network is more difficult to bear large fluctuation of power and unstable voltage.
Disclosure of Invention
In view of the above, it is necessary to provide an energy router, a vehicle control method, and a storage medium capable of better distributing power flow and stabilizing voltage of a rail transit system.
An energy router, comprising:
at least one grid interface for connecting to a grid;
at least one photovoltaic system interface for connecting a photovoltaic system;
at least one rail transit network alternating current load interface for receiving alternating current load;
the energy storage interface is used for connecting an energy storage device;
at least one traction load interface for accessing a load;
the three-phase full-bridge PWM rectifying circuit is connected with the power grid interface and the first voltage side direct current bus and is used for outputting PWM signals and controlling a switching tube of the three-phase full-bridge PWM rectifying circuit;
the pulse wave uncontrolled rectifying circuit is connected with the power grid interface and the first voltage side direct current bus and is used for adjusting the transformation ratio of the transformer so as to control the voltage of the direct current side to be maintained at a preset voltage value;
the double-active-bridge circuit is connected with the first voltage side direct current bus and the second voltage side direct current bus, and is used for generating a phase-shifting control signal and controlling power bidirectional transmission according to the phase-shifting control signal; wherein the voltage value of the first voltage side is higher than the voltage value of the second voltage side;
the three-phase full-bridge inverter circuit is connected with the rail transit network alternating current load interface and the second voltage side direct current bus and is used for generating a PWM signal and controlling a switching tube of the inverter circuit;
the bidirectional buck/boost converter circuit is connected with the direct-current bus and the energy storage interface and is used for generating a control signal, controlling a switch tube of the bidirectional buck/boost converter circuit and controlling the charge state of an external energy storage device;
and the boost circuit is connected with the second voltage side direct current bus and the photovoltaic system interface and used for providing stable voltage for the second voltage side direct current bus.
In one embodiment, the three-phase full-bridge PWM rectification circuit is further configured to collect a voltage and a current of a power grid through a power grid interface; coupling the voltage and current of the power grid with an inductor after conversion processing to obtain a coupling result;
and generating a PWM signal by the coupling result through an SVPWM generator, and controlling a switching tube of the three-phase full-bridge PWM rectifying circuit by using the PWM signal.
In one embodiment, the pulse-wave uncontrolled rectifying circuit is a 24-pulse-wave uncontrolled rectifying circuit; the energy router also comprises a transformer arranged between the 24-pulse-wave uncontrolled rectifying circuit and the first voltage side direct current bus, wherein the 24-pulse-wave uncontrolled rectifying circuit is used for adjusting the transformation ratio of the transformer so as to control the voltage on the direct current side to be maintained at a preset voltage value.
In one embodiment, the dual-active bridge circuit is further configured to collect a voltage signal on a dc bus at a second voltage side, input the voltage signal to a PI controller, generate a phase-shift control signal, and control energy to flow from the first voltage side to the second voltage side according to the phase-shift control signal when the phase-shift control signal is greater than zero; and when the phase-shift control signal is less than zero, controlling energy to flow from the second voltage side to the first voltage side and the second voltage side according to the phase-shift control signal.
In one embodiment, the energy router further comprises a phase-locked loop circuit arranged between the three-phase full-bridge inverter circuit and the rail transit network alternating current load interface;
the phase-locked loop circuit is used for acquiring the phase of the power grid voltage and the alternating-current side voltage of the rail transit network;
the three-phase full-bridge inverter circuit is also used for controlling and processing alternating-current side voltage of the rail transit network to generate reference voltage, processing the reference voltage and the phase of the phase-locked loop collected network voltage to generate PWM control signals, and controlling a switching tube of the three-phase full-bridge inverter circuit.
In one embodiment, the number of the bidirectional buck/boost converter circuits is 4; the number of the at least one energy storage interface is 4, and the at least one energy storage interface comprises 2 storage battery energy storage interfaces and 2 super capacitor energy storage interfaces; and a bidirectional buck/boost converter circuit is connected with an energy storage interface.
A vehicle operation control method employing an energy router connecting a super capacitor and a first voltage side dc bus, the method comprising:
detecting the running state of the vehicle and the charge state of the super capacitor;
acquiring a corresponding regulation and control strategy according to the running state of the vehicle;
and controlling the state of charge of the corresponding super capacitor to be within a preset threshold range according to the running state of the vehicle.
In one embodiment, the operating state of the vehicle includes a parking phase, an acceleration phase, a constant power phase, and a deceleration phase;
the detecting the running state of the vehicle includes:
and detecting power change information in the starting and stopping process of the vehicle, and determining the running state of the vehicle according to the power change information.
In one embodiment, the regulation strategy is a two-stage regulation strategy, including a former stage control and a latter stage control; the pre-stage control comprises linear function type amplification factor voltage closed-loop control, Sigmoid function type amplification factor voltage closed-loop control and linear current/power control, wherein the pre-stage control generates reference current for controlling a current loop of a post stage, and the linear current/power control comprises constant current control, linear function type current attenuation control, linear function type power attenuation control and linear function type current increase control;
obtaining corresponding regulation strategies and regulation parameters according to the running state of the vehicle, wherein the regulation strategies and the regulation parameters comprise:
when the running state of the vehicle is in a parking stage, generating a first reference current by adopting corresponding constant current control, and controlling a current loop of a rear stage by adopting the first reference current;
when the running state of the vehicle is in an acceleration stage, generating a second reference current by adopting corresponding linear function type current attenuation control and Sigmoid function type amplification factor voltage closed-loop control, and controlling a current loop of a rear stage by adopting the second parameter current;
when the running state of the vehicle is in a constant power stage, generating a third reference current by adopting corresponding linear function type power attenuation control, and controlling a current loop of a rear stage by adopting the third reference current;
and when the running state of the vehicle is in a deceleration stage, generating a fourth reference current by adopting linear function type power attenuation control, linear function type amplification factor voltage closed-loop control and linear function type current increase control, and controlling a current loop of a rear stage by adopting the fourth reference current.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
detecting the running state of the vehicle and the charge state of the super capacitor;
acquiring a corresponding regulation and control strategy according to the running state of the vehicle;
and controlling the state of charge of the corresponding super capacitor to be within a preset threshold range according to the running state of the vehicle.
The energy router, the vehicle control method and the storage medium are connected with a power grid interface and a first voltage side direct current bus through a three-phase full-bridge PWM rectification circuit, and are used for outputting PWM signals and controlling a switching tube of the energy router and the vehicle; the pulse wave uncontrolled rectifying circuit is connected with the power grid interface and the first voltage side direct current bus and is used for adjusting the transformation ratio of the transformer so as to control the voltage of the direct current side to be maintained at a preset voltage value; the double-active-bridge circuit is connected with the first voltage side direct current bus and the second voltage side direct current bus, and is used for generating a phase-shifting control signal and controlling power bidirectional transmission according to the phase-shifting control signal; wherein the voltage value of the first voltage side is higher than the voltage value of the second voltage side; the three-phase full-bridge inverter circuit is connected with the rail transit network alternating current load interface and the second voltage side direct current bus and is used for generating a PWM signal and controlling a switching tube of the inverter circuit; the bidirectional buck/boost converter circuit is connected with the direct-current bus and the energy storage interface and is used for generating a control signal, controlling a switch tube of the bidirectional buck/boost converter circuit and controlling the charge state of an external energy storage device; the boost circuit is connected with the second voltage side direct current bus and the photovoltaic system interface and used for providing stable voltage for the second voltage side direct current bus, better distributed power flow can be achieved, the voltage of the rail transit system is stabilized, and safe and reliable operation of a rail transit network is guaranteed.
Drawings
FIG. 1 is an overall framework diagram of an energy router in one embodiment;
FIG. 2 is a diagram of an energy router circuit topology in one embodiment;
FIG. 3 is a schematic diagram of a control scheme of a three-phase full-bridge PWM rectifier circuit according to an embodiment;
FIG. 4 is a diagram of a dual active bridge circuit control strategy in one embodiment;
FIG. 5 is a schematic diagram of a control scheme for a three-phase inverter circuit according to an embodiment;
FIG. 6 is a schematic diagram of a circuit control strategy for a bi-directional buck/boost converter in accordance with one embodiment;
FIG. 7 is a schematic diagram of a circuit control scheme for a bidirectional buck/boost converter in accordance with another embodiment;
FIG. 8 is a flowchart of a vehicle operation control method according to one embodiment;
FIG. 9 is a graph illustrating a trend in vehicle traction power change according to one embodiment;
FIG. 10 is a flow diagram of a current closed loop control strategy in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The overall frame diagram of the energy router provided by the application is shown in fig. 1, and the topological structure of the energy router comprises a three-phase full-bridge PWM (pulse-width modulation) rectifying circuit, a 24-pulse uncontrolled rectifying circuit, a double-active-bridge circuit, a bidirectional buck/boost converter circuit, a boost circuit and a three-phase full-bridge inverter circuit. The energy router topology structure and the interface design are suitable for the requirements of regulating power flow and stabilizing voltage of a rail transit network under the condition of distributed energy access.
In one embodiment, there is provided an energy router comprising:
at least one grid interface for connecting to a grid;
at least one photovoltaic system interface for connecting a photovoltaic system;
at least one rail transit network alternating current load interface for receiving alternating current load;
the energy storage interface is used for connecting an energy storage device;
at least one traction load interface for accessing a load;
the three-phase full-bridge PWM rectifying circuit is connected with the power grid interface and the first voltage side direct current bus and is used for outputting PWM signals and controlling a switching tube of the three-phase full-bridge PWM rectifying circuit;
the pulse wave uncontrolled rectifying circuit is connected with the power grid interface and the first voltage side direct current bus and is used for adjusting the transformation ratio of the transformer so as to control the voltage of the direct current side to be maintained at a preset voltage value;
the double-active-bridge circuit is connected with the first voltage side direct current bus and the second voltage side direct current bus, and is used for generating a phase-shifting control signal and controlling power bidirectional transmission according to the phase-shifting control signal; wherein a voltage value of the first voltage side is higher than a voltage value of the second voltage side;
the three-phase full-bridge inverter circuit is connected with the rail transit network alternating current load interface and the second voltage side direct current bus and is used for generating a PWM signal and controlling a switching tube of the inverter circuit;
the bidirectional buck/boost converter circuit is connected with the direct-current bus and the energy storage interface and is used for generating a control signal, controlling a switch tube of the bidirectional buck/boost converter circuit and controlling the charge state of an external energy storage device;
and the boost circuit is connected with the second voltage side direct current bus and the photovoltaic system interface and used for providing stable voltage for the second voltage side direct current bus.
Specifically, as shown in fig. 1 and 2, the energy router has eight ports, which are: the system comprises a 35kV power grid interface, a train traction load interface, 2 storage battery energy storage interfaces, 2 super capacitor energy storage interfaces, a photovoltaic system interface and a rail transit network alternating current load interface. The energy router topological structure comprises a three-phase full-bridge PWM (pulse-width modulation) rectifying circuit, a 24-pulse uncontrolled rectifying circuit, a double-active-bridge circuit, a bidirectional buck/boost converter circuit, a boost circuit and a three-phase full-bridge inverter circuit.
The first voltage side dc bus is a high voltage side dc bus, and the second voltage side dc bus is a low voltage side dc bus. The three-phase full-bridge PWM rectifier circuit is connected with a power grid interface and a high-voltage side direct current bus, as shown in fig. 3, the three-phase full-bridge PWM rectifier circuit adopts voltage and current double closed-loop three-phase rectification control of current feed-forward decoupling, the voltage and the current on the alternating current side are subjected to d-q decomposition under d and q coordinate axes, d-axis current and q-axis current are mutually coupled through an inductor Ls under a d-q coordinate system, and the coupling equation is as follows:
Figure RE-GDA0003007086150000061
Figure RE-GDA0003007086150000062
iq*＝0
wherein u isq,dRepresenting the value, i, of the voltage after dq decompositiond,qRepresenting the value obtained after the current has undergone dq decomposition,
Figure RE-GDA0003007086150000071
the reference values of d, q voltage obtained by the control process,
Figure RE-GDA0003007086150000072
representing d, q current reference values obtained in the control process and used for generating PWM signals; u. ofdc_refRepresents a reference voltage value, here 1500V, udc_1500Represents the actually measured 1500V bus voltage value; kp、KiAnd the parameters are PI controller parameters, S represents integral in a PI control equation, omega represents angular frequency, omega is 2 PI f, f represents 50Hz power grid frequency, and Ls is an inductance value on the three-phase full-bridge PWM rectifying circuit. By passing
Figure RE-GDA0003007086150000073
And controlling the voltage of 1500V at the direct current side and the power factor at the alternating current side, and sending the coupling result to the SVPWM generator to output a PWM signal so as to control the switch tube. The PWM signal is amplified by the control unit of the energy router, so that the switching tube can be controlled to be switched on or off, and the switching tube is switched on when the signal is 1 and switched off when the signal is 0. The control unit of the energy router is equivalent to an arithmetic processing center and is used for controlling electric signals in the energy router, such as current, harmonic waves, phase angle and the like.
The pulse wave uncontrolled rectifying circuit is connected with the power grid interface and the high-voltage side direct current bus and is used for adjusting the transformation ratio of the transformer so as to control the voltage of the direct current side to be maintained at a preset voltage value; the double-active-bridge circuit is connected with the high-voltage side direct-current bus and the low-voltage side direct-current bus and used for generating a phase-shifting control signal and controlling power bidirectional transmission according to the phase-shifting control signal; the three-phase full-bridge inverter circuit is connected with the rail transit network alternating current load interface and the low-voltage side direct current bus and is used for generating PWM signals and controlling a switching tube of the inverter circuit; the bidirectional buck/boost converter circuit is connected with the direct-current bus and the energy storage interface and is used for generating a control signal, controlling a switch tube of the bidirectional buck/boost converter circuit and controlling the charge state of an external energy storage device; and the boost circuit is connected with the low-voltage side direct current bus and the photovoltaic system interface and used for providing stable voltage for the second voltage side direct current bus.
The energy router is connected with a power grid interface and a first voltage side direct current bus through a three-phase full-bridge PWM rectification circuit, and is used for outputting PWM signals and controlling a switching tube of the energy router; the pulse wave uncontrolled rectifying circuit is connected with the power grid interface and the first voltage side direct current bus and is used for adjusting the transformation ratio of the transformer so as to control the voltage of the direct current side to be maintained at a preset voltage value; the double-active-bridge circuit is connected with the first voltage side direct current bus and the second voltage side direct current bus, and is used for generating a phase-shifting control signal and controlling power bidirectional transmission according to the phase-shifting control signal; wherein the voltage value of the first voltage side is higher than the voltage value of the second voltage side; the three-phase full-bridge inverter circuit is connected with the rail transit network alternating current load interface and the second voltage side direct current bus and is used for generating a PWM signal and controlling a switching tube of the inverter circuit; the bidirectional buck/boost converter circuit is connected with the direct-current bus and the energy storage interface and used for generating a control signal, controlling a switch tube of the bidirectional buck/boost converter circuit and controlling the charge state of an external energy storage device; the boost circuit is connected with the second voltage side direct current bus and the photovoltaic system interface and used for providing stable voltage for the second voltage side direct current bus, better distributed power flow can be achieved, the voltage of the rail transit system is stabilized, and safe and reliable operation of a rail transit network is guaranteed.
In one embodiment, the pulse uncontrolled rectifying circuit is a 24 pulse uncontrolled rectifying circuit; the energy router also comprises a transformer arranged between the 24-pulse-wave uncontrolled rectifying circuit and the first voltage side direct current bus, wherein the 24-pulse-wave uncontrolled rectifying circuit is used for adjusting the transformation ratio of the transformer so as to control the voltage on the direct current side to be maintained at a preset voltage value.
Specifically, the first voltage-side direct-current bus refers to a high-voltage-side 1500V direct-current bus, the 24-pulse-wave uncontrolled rectifying circuit is connected with the power grid interface and the high-voltage-side direct-current bus, and the energy router further comprises a transformer arranged between the 24-pulse-wave uncontrolled rectifying circuit and the high-voltage-side direct-current bus, wherein the transformer can be a + 7.5-degree and-7.5-degree phase-shifting transformer. The 24-pulse uncontrolled rectifying circuit adjusts the transformation ratio of the transformer through a + 7.5-degree phase-shifting transformer, so that the voltage of a direct current side of the transformer is kept at 1500V under the rated power of an output train. In the embodiment, the three-phase full-bridge PWM rectifying circuit and the 24-pulse uncontrolled rectifying circuit are combined to provide enough power and voltage support for train traction, so that the problems that the regulating capacity is insufficient in a high-power situation generated by the three-phase full-bridge PWM rectifying circuit and the 24-pulse uncontrolled rectifying circuit can provide high-power energy but cannot regulate power energy flow in real time are solved, and the two are combined to adapt to the situation that a track traction system is large in rated power and large in power fluctuation.
In one embodiment, the dual active bridge circuit is further configured to collect a voltage signal on a dc bus on a second voltage side, input the voltage signal to the PI controller, generate a phase shift control signal, and control energy to flow from the first voltage side to the second voltage side according to the phase shift control signal when the phase shift control signal is greater than zero; and when the phase-shift control signal is less than zero, controlling energy to flow from the second voltage side to the first voltage side and the second voltage side according to the phase-shift control signal.
Specifically, as shown in fig. 4, the first voltage-side dc bus refers to a high-voltage-side 1500V dc bus, the second voltage-side dc bus refers to a low-voltage-side 400V dc bus, and the dual-active-bridge circuit connects the high-voltage-side dc bus and the low-voltage-side dc bus. The double active bridges adopt single-voltage closed-loop control, firstly sample the voltage on a 400V direct current bus, and then generate a phase-shift control signal theta through a PI (proportional integral) controller:
Figure RE-GDA0003007086150000081
wherein u isdc_refRepresents a reference voltage value, here 400V; u. ofdc_400Representing the actual measured value of the 400V bus voltage. The method comprises the steps of sending original high-frequency square wave signals (0-degree square wave signals and 180-degree square wave signals) and phase-shift control signals theta into a phase shifter to generate phase-shifted high-frequency square wave signals, sending the original high-frequency square wave signals into a front-stage full-bridge circuit control switch tube, sending the phase-shifted high-frequency square wave signals into a rear-stage full-bridge circuit control switch tube, wherein the front-stage full-bridge circuit control switch tube is a full-bridge circuit control switch tube connected with a 1500V direct-current bus, and the rear-stage full-bridge circuit control switch tube is a full-bridge circuit control switch tube connected with a 400V direct. When shifting the phase control signal theta>When 0, the double active bridge DAB converter transmits power in the forward direction, the energy flows from the high-voltage side to the low-voltage side, and when the phase-shifting control signal theta<When 0, the double active bridge DAB converter transmits power in the forward direction, and at the moment, the energy flows from the low-voltage side to the high-voltage side to realize the bidirectional power transmission,and meanwhile, the influence on the low-voltage side is reduced when the fluctuation change of the voltage on the high-voltage side is large.
In one embodiment, the energy router further comprises a phase-locked loop circuit arranged between the three-phase full-bridge inverter circuit and the rail transit network alternating current load interface;
the phase-locked loop circuit is used for acquiring the phase of the power grid voltage and the alternating-current side voltage of the rail transit network;
the three-phase full-bridge inverter circuit is also used for controlling and processing alternating-current side voltage of the rail transit network to generate reference voltage, processing the reference voltage and the phase of the phase-locked loop collected network voltage to generate PWM control signals, and controlling a switching tube of the three-phase full-bridge inverter circuit.
Specifically, as shown in fig. 5, the three-phase full-bridge inverter circuit connects the rail transit network ac load interface and the low-voltage side 400V dc bus, and the energy router further includes a phase-locked loop circuit disposed between the three-phase full-bridge inverter circuit and the rail transit network ac load interface. The three-phase full-bridge inverter circuit adopts a voltage closed-loop control strategy, firstly, the phase of the power grid voltage and the alternating-current side voltage are collected through a phase-locked loop circuit, the alternating-current side voltage is subjected to d-q decomposition, compared with set d-axis and q-axis voltage standard values and then sent to a PI (proportional-integral) controller to generate
Figure RE-GDA0003007086150000091
Figure RE-GDA0003007086150000092
Wherein u isdc_refDenotes a voltage reference value, udqRepresenting the dq-transformed value of the measured voltage,
Figure RE-GDA0003007086150000093
representing the d, q voltage reference obtained by the PI controller. Will be provided with
Figure RE-GDA0003007086150000094
And lockD-q inverse transformation is carried out on the phase generated by the phase loop to generate a reference voltage VrefAnd sending the signal to a PWM generator to generate a control signal to control the switching tube.
In one embodiment, the number of the bidirectional buck/boost converter circuits is 4; the number of the at least one energy storage interface is 4, and the at least one energy storage interface comprises 2 storage battery energy storage interfaces and 2 super capacitor energy storage interfaces; and a bidirectional buck/boost converter circuit is connected with an energy storage interface.
Specifically, the bidirectional buck/boost converter circuit can be connected with a high-voltage side direct-current bus and a high-voltage side storage battery energy storage interface, and connected with a low-voltage side direct-current bus and an energy storage interface, and is used for outputting a PWM control signal, controlling a switching tube of the bidirectional buck/boost converter circuit, and controlling the charge state of an energy storage device, wherein the energy storage device is connected through the energy storage interface. As shown in FIG. 6, a bidirectional buck/boost converter circuit for connecting a high-voltage side direct-current bus and a storage battery, connecting a low-voltage side direct-current bus and a storage battery, and connecting the low-voltage side direct-current bus and a super capacitor adopts a voltage and current double closed-loop control strategy with an amplification factor K, compares a direct-current side voltage with a voltage reference value and sends the voltage reference value to a PI controller to form a voltage loop, regulates and controls an error signal through the amplification factor, compares the error signal with an energy storage current value and sends the error signal to the PI controller to form a current loop, and generates a VrefAnd the power fluctuation caused by the photovoltaic system is quickly tracked by sending the power fluctuation to a PWM generator to generate a control signal.
Figure RE-GDA0003007086150000101
Wherein K represents an amplification factor, Kp、KiIs a PI controller parameter, subscripts 1, 2 indicate the use of two PI controllers, Vdc _ ref indicates a voltage reference, here 400V, Vdc _400 indicates the actual 400V bus voltage, IbatRepresenting the current value of the energy storage cell. And finally, monitoring the SOC (State of Charge) value of the energy storage device, outputting a control signal when the SOC value is within a threshold range, and setting the control signal to 0 for outputting when the SOC value exceeds the threshold. Due to electric storageThe battery and the super capacitor are different in physical characteristics, and the storage battery is high in energy density but low in power density, so that the storage battery is large in capacity, can store more energy, is small in instantaneous power flow, and is not suitable for instantly absorbing or releasing larger energy; in contrast, the super capacitor has low energy density and high power density, and can instantly release or absorb large energy. Therefore, the amplification factor K and the SOC threshold value in the control strategy of the buck/boost converter circuit connected between the storage battery and the super capacitor are also different, and the reference values are given in table 1.
TABLE 1 SOC threshold table for energy storage device
Energy storage device Characteristics of Amplification factor K Setting an optimal SOC
Storage battery Low power density and large capacity Small (1-5) 20％-80％
Super capacitor High power density and small capacity Big (1-20) 20％-90％
As shown in fig. 7, the bidirectional buck/boost converter circuit connected to the high-side dc bus and the super capacitor energy storage interface is configured to generate a PWM control signal according to a corresponding regulation and control strategy of a vehicle operating state, control a switching tube of the bidirectional buck/boost converter circuit, and control a charge state of the super capacitor, so as to stabilize voltage fluctuation caused by a change in train traction power.
In one embodiment, a vehicle operation control method is provided, which employs an energy router, the energy router connects a super capacitor and a first voltage side dc bus, and a load of the energy router is taken as an example of a vehicle, and the method includes the following steps:
step 802, detecting the running state of the vehicle and the charge state of the super capacitor.
Specifically, detecting the power change condition in the starting and stopping process of the vehicle, and determining the running state of the vehicle according to the power change trend in the starting and stopping process of the vehicle; the state of charge of the super capacitor may be detected by using an ampere-hour meter method, a load voltage method, a kalman filter method, or other methods, which is not limited herein.
And step 804, acquiring a corresponding regulation and control strategy according to the running state of the vehicle.
Specifically, different power change trends corresponding to different running states of the vehicle are different, different control strategies are adopted to distribute power flow, and the voltage of the rail transit system is stabilized, wherein the control strategies are used for controlling a bidirectional buck/boost converter circuit connected with a high-voltage direct-current side and a super capacitor energy storage interface in an energy router.
And 806, controlling the state of charge of the corresponding super capacitor to be within a preset threshold range according to the running state of the vehicle.
Specifically, different control strategies are adopted for distributing power flow in different running states of the vehicle, and when different control strategies are adopted for controlling power, the charge states of the corresponding super capacitors are different, and the charge states of the corresponding super capacitors need to be controlled according to the different control strategies.
In one embodiment, the operating state of the vehicle includes a parking phase, an acceleration phase, a constant power phase, and a deceleration phase;
the detecting the running state of the vehicle includes:
and detecting power change information in the starting and stopping process of the vehicle, and determining the running state of the vehicle according to the power change information.
Specifically, a power variation trend in the starting and stopping process of the vehicle is detected, and the running state of the vehicle is determined according to the power variation trend. The power variation trend in the vehicle starting and stopping process is shown in fig. 9, the traction power of the vehicle is 0 in the stopping stage, and when the vehicle starts to accelerate, the traction power can rapidly rise; when the vehicle is changed from an acceleration state to constant-power running, the traction power is firstly reduced, and then the constant-power running is kept under a certain rated power; and in the braking stage, the traction power is rapidly reduced, when the power is reduced to a zero point, the traction power is continuously reduced, at the moment, the traction power releases energy to the 1500V direct current bus side for a period of time, then the power is restored to zero, and the vehicle stops.
In one embodiment, the regulation strategy is a two-stage regulation strategy, including a preceding stage control and a succeeding stage control; the pre-stage control comprises linear function type amplification factor voltage closed-loop control, Sigmoid function type amplification factor voltage closed-loop control and linear current/power control, wherein the pre-stage control generates reference current for controlling a current loop of a post stage, and the linear current/power control comprises constant current control, linear function type current attenuation control, linear function type power attenuation control and linear function type current increase control;
obtaining corresponding regulation strategies and regulation parameters according to the running state of the vehicle, wherein the regulation strategies and the regulation parameters comprise:
when the running state of the vehicle is in a parking stage, generating a first reference current by adopting corresponding constant current control, and controlling a current loop of a rear stage by adopting the first reference current;
when the running state of the vehicle is in an acceleration stage, generating a second reference current by adopting corresponding linear function type current attenuation control and Sigmoid function type amplification factor voltage closed-loop control, and controlling a current loop of a rear stage by adopting the second parameter current;
when the running state of the vehicle is in a constant power stage, generating a third reference current by adopting corresponding linear function type power attenuation control, and controlling a current loop of a rear stage by adopting the third reference current;
and when the running state of the vehicle is in a deceleration stage, generating a fourth reference current by adopting linear function type power attenuation control, linear function type amplification factor voltage closed-loop control and linear function type current increase control, and controlling a current loop of a rear stage by adopting the fourth reference current.
Specifically, the control strategy of the vehicle is to control a bidirectional buck/boost converter circuit which is connected with a high-voltage direct-current side and a super capacitor energy storage interface in an energy router, the bidirectional buck/boost converter circuit which is connected with the high-voltage direct-current side and the super capacitor energy storage interface adopts a multi-stage regulating current closed-loop control strategy, the control strategy is divided into two parts, the front stage adopts different control strategies according to different running states of the train, the front stage control strategies comprise primary function type amplification factor voltage closed-loop control, Sigmoid function type amplification factor voltage closed-loop control and primary current/power control, the primary current/power control comprises constant current control, primary function type current attenuation control, primary function type power attenuation control and primary function type current increase control, and the pre-stage control generates a preset reference current I.refAnd sending the current to the current loop control of the later stage. The amplification factors in the first order function type amplification factor voltage closed-loop control and the Sigmoid function type amplification factor voltage closed-loop control are not fixed and are changed according to a specific function. The primary current/power control has no voltage loop link, the primary current control directly generates preset reference current to control the backward stage, and the primary power control controls the backward stage by dividing the preset power by the voltage of the port of the super capacitor to obtain the current reference value.
As shown in fig. 10, the flowchart illustrates different phase control strategies for different train operation phases. Firstly, acquiring the running state of a train and the SOC value of a super capacitor, and adopting a constant current control strategy at the front stage in the parking stage to enable the super capacitor to be at a constant current-I1Charge state of (1) is1As a preceding referenceA current value; when the train is in an acceleration stage, firstly, the current reference value of the front stage is reversely attenuated to 0 in a linear function mode, and then the voltage closed-loop control of a Sigmoid function amplification factor is used for positively increasing the current reference value of the front stage until the maximum output power of the super capacitor is reached, and the front stage is kept to operate under the maximum power; in the constant power stage, the train must reduce the traction power and then keep constant, linear function type power attenuation control is adopted, the maximum power is attenuated to sigma times, then constant power control output is carried out according to the power, and the voltage is divided by the port voltage of the super capacitor to obtain a preceding stage reference current value, wherein sigma can be 0.4 or other numbers between 0 and 1, and can be obtained according to experience without limitation; when the train is in a deceleration stage, in the period that the train traction power is reduced to 0, linear function type power attenuation control is adopted to enable the maximum power of the super capacitor to be reduced to 0 from sigma times, when the train traction power is reversely increased, linear function type amplification factor voltage closed-loop control is adopted to enable the preceding-stage current reference value to be reversely increased and wait for the power to be increased, and when the traction power is increased, linear function type current increase control is adopted to enable the current reference value to be increased to-I from the current reference value at the increasing point1Will I1As a previous reference current value until the train stops. Then comparing the front reference current value with the current of the port of the super capacitor and sending the comparison result to a PI controller to form a current loop and generate VrefAnd sending the signal to a PWM generator to generate a control signal. Finally, monitoring the SOC value of the super capacitor, outputting a control signal when the SOC value is in a threshold range, continuously acquiring the running state of the vehicle and the charge state of the super capacitor, and controlling the vehicle; and when the threshold value is exceeded, setting the control signal to be 0 and outputting the control signal, and ending the control. According to the vehicle operation control method, under the condition of fluctuation of train starting and stopping power and intermittent fluctuation of the distributed power supply, power can be better distributed to flow, the voltage of a rail transit system is stabilized, and safe and reliable operation of a rail transit network is guaranteed.
It should be understood that, although the steps in the flowcharts of fig. 8 and 10 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 8 and 10 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternatively with other steps or at least a portion of the steps or stages in other steps.
In one embodiment, a computer-readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, performs the steps of:
detecting the running state of the vehicle and the charge state of the super capacitor;
acquiring a corresponding regulation and control strategy according to the running state of the vehicle;
and controlling the state of charge of the corresponding super capacitor to be within a preset threshold range according to the running state of the vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of: the running state of the vehicle comprises a parking stage, an acceleration stage, a constant power stage and a deceleration stage; the detecting the running state of the vehicle includes: and detecting power change information in the starting and stopping process of the vehicle, and determining the running state of the vehicle according to the power change information.
In one embodiment, the computer program when executed by the processor further performs the steps of: the regulation strategy is a two-stage regulation strategy, and comprises a front-stage control and a rear-stage control; the pre-stage control comprises linear function type amplification factor voltage closed-loop control, Sigmoid function type amplification factor voltage closed-loop control and linear current/power control, wherein the pre-stage control generates reference current for controlling a current loop of a post stage, and the linear current/power control comprises constant current control, linear function type current attenuation control, linear function type power attenuation control and linear function type current increase control; obtaining corresponding regulation strategies and regulation parameters according to the running state of the vehicle, wherein the regulation strategies and the regulation parameters comprise: when the running state of the vehicle is in a parking stage, generating a first reference current by adopting corresponding constant current control, and controlling a current loop of a rear stage by adopting the first reference current; when the running state of the vehicle is in an acceleration stage, generating a second reference current by adopting corresponding linear function type current attenuation control and Sigmoid function type amplification factor voltage closed-loop control, and controlling a current loop of a rear stage by adopting the second parameter current; when the running state of the vehicle is in a constant power stage, generating a third reference current by adopting corresponding primary function type power attenuation control, and controlling a current loop of a rear stage by adopting the third reference current; and when the running state of the vehicle is in a deceleration stage, generating a fourth reference current by adopting linear function type power attenuation control, linear function type amplification factor voltage closed-loop control and linear function type current increase control, and controlling a current loop of a rear stage by adopting the fourth reference current.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, the scope of the present disclosure should be considered as being described in the present specification.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.

Claims (10)

1. An energy router, comprising:
at least one grid interface for connecting to a grid;
at least one photovoltaic system interface for connecting a photovoltaic system;
at least one rail transit network alternating current load interface for receiving alternating current load;
the energy storage interface is used for connecting an energy storage device;
at least one traction load interface for accessing a load;
the three-phase full-bridge PWM rectifying circuit is connected with the power grid interface and the first voltage side direct current bus and is used for outputting PWM signals and controlling a switching tube of the three-phase full-bridge PWM rectifying circuit;
the pulse wave uncontrolled rectifying circuit is connected with the power grid interface and the first voltage side direct current bus and is used for adjusting the transformation ratio of the transformer so as to control the voltage of the direct current side to be maintained at a preset voltage value;
the double-active-bridge circuit is connected with the first voltage side direct current bus and the second voltage side direct current bus, and is used for generating a phase-shift control signal and controlling power bidirectional transmission according to the phase-shift control signal; wherein a voltage value of the first voltage side is higher than a voltage value of the second voltage side;
the three-phase full-bridge inverter circuit is connected with the rail transit network alternating current load interface and the second voltage side direct current bus and is used for generating a PWM signal and controlling a switching tube of the inverter circuit;
the bidirectional buck/boost converter circuit is connected with the direct-current bus and the energy storage interface and is used for generating a control signal, controlling a switch tube of the bidirectional buck/boost converter circuit and controlling the charge state of an external energy storage device;
and the boost circuit is connected with the second voltage side direct current bus and the photovoltaic system interface and used for providing stable voltage for the second voltage side direct current bus.
2. The energy router of claim 1, wherein the three-phase full-bridge PWM rectification circuit is further used for collecting the voltage and current of a power grid through a power grid interface; coupling the power grid voltage and current with an inductor after conversion processing to obtain a coupling result;
and generating a PWM signal by the coupling result through an SVPWM generator, and controlling a switching tube of the three-phase full-bridge PWM rectifying circuit by using the PWM signal.
3. The energy router of claim 1, wherein the pulse uncontrolled rectifying circuit is a 24 pulse uncontrolled rectifying circuit; the energy router also comprises a transformer arranged between the 24-pulse-wave uncontrolled rectifying circuit and the first voltage side direct current bus, and the 24-pulse-wave uncontrolled rectifying circuit is used for adjusting the transformation ratio of the transformer so as to control the voltage on the direct current side to be maintained at a preset voltage value.
4. The energy router of claim 1, wherein the dual active bridge circuit is further configured to collect a voltage signal on a dc bus on a second voltage side, input the voltage signal to a PI controller, generate a phase-shift control signal, and control energy flow from the first voltage side to the second voltage side according to the phase-shift control signal when the phase-shift control signal is greater than zero; and when the phase-shift control signal is less than zero, controlling energy to flow from the second voltage side to the first voltage side and the second voltage side according to the phase-shift control signal.
5. The energy router of claim 1, further comprising a phase-locked loop circuit disposed between the three-phase full-bridge inverter circuit and a rail transit network ac load interface;
the phase-locked loop circuit is used for acquiring the phase of the power grid voltage and the alternating-current side voltage of the rail transit network;
the three-phase full-bridge inverter circuit is also used for controlling and processing alternating-current side voltage of the rail transit network to generate reference voltage, processing the reference voltage and the phase of the phase-locked loop collected network voltage to generate PWM control signals, and controlling a switching tube of the three-phase full-bridge inverter circuit.
6. The energy router of claim 1, wherein the bidirectional buck/boost converter circuits are 4; the number of the at least one energy storage interface is 4, and the at least one energy storage interface comprises 2 storage battery energy storage interfaces and 2 super capacitor energy storage interfaces; and a bidirectional buck/boost converter circuit is connected with an energy storage interface.
7. A vehicle operation control method, characterized by applying an energy router connecting a super capacitor and a first voltage side dc bus, the method comprising:
detecting the running state of the vehicle and the charge state of the super capacitor;
acquiring a corresponding regulation and control strategy according to the running state of the vehicle;
and controlling the state of charge of the corresponding super capacitor to be within a preset threshold range according to the running state of the vehicle.
8. The method of claim 7, wherein the operating state of the vehicle includes a parking phase, an acceleration phase, a constant power phase, and a deceleration phase;
the detecting the running state of the vehicle includes:
and detecting power change information in the starting and stopping process of the vehicle, and determining the running state of the vehicle according to the power change information.
9. The method of claim 8, wherein the regulation strategy is a two-stage regulation strategy comprising a pre-stage control and a post-stage control; the pre-stage control comprises linear function type amplification factor voltage closed-loop control, Sigmoid function type amplification factor voltage closed-loop control and linear current/power control, the pre-stage control generates reference current for controlling a current loop of a post stage, and the linear current/power control comprises constant current control, linear function type current attenuation control, linear function type power attenuation control and linear function type current increase control;
the obtaining of the corresponding regulation strategy and the corresponding regulation parameter according to the running state of the vehicle comprises the following steps:
when the running state of the vehicle is in a parking stage, generating a first reference current by adopting corresponding constant current control, and controlling a current loop of a rear stage by adopting the first reference current;
when the running state of the vehicle is in an acceleration stage, generating a second reference current by adopting corresponding linear function type current attenuation control and Sigmoid function type amplification factor voltage closed-loop control, and controlling a current loop of a rear stage by adopting the second parameter current;
when the running state of the vehicle is in a constant power stage, generating a third reference current by adopting corresponding linear function type power attenuation control, and controlling a current loop of a rear stage by adopting the third reference current;
and when the running state of the vehicle is in a deceleration stage, generating a fourth reference current by adopting linear function type power attenuation control, linear function type amplification factor voltage closed-loop control and linear function type current increase control, and controlling a current loop of a rear stage by adopting the fourth reference current.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 7 to 9.
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